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Speed control of DC motor using PID controller based on artificial intelligence

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Conference Paper · May 2013

DOI: 10.1109/CoDIT.2013.6689543

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 Speed Control of DC Motor Using PID Controller
Based on Artificial Intelligence Techniques
Walaa M. Elsrogy* M. A. Fkirin**
*Great Cairo Company for Water, Cairo, Egypt.
**Industrial Electronic and Control Department, Menofia University, Menofia, Egypt.
***Electric Power and Machines Department, Cairo University, Giza, Egypt.
Correspondence E-Mails:
* way_forallah@yahoo.com **mafkirin@yahoo.com
Abstract— the aim of this paper is to design a speed
controller of a DC motor by selection of a PID parameters
using genetic algorithm (GA) and Adaptive Neuro-Fuzzy
Inference System (ANFIS). DC motor could be
represented by a nonlinear model when nonlinearities such
as magnetic saturation are considered. To provide effective
control, nonlinearities and uncertainties in the model must
be taken into account in the control design.The model of a
DC motor is considered as a third order system. And this
paper compares three kinds of tuning methods of
parameter for PID controller. One is the controller design
by the Ziegler and Nichols, second is the controller design
by the Genetic Algorithm method and third is the
controller design by Adaptive Neuro-Fuzzy Inference
System (ANFIS). The proposed methods could be applied
to the higher order systems.
Keywords— DC Motor, Genetic Algorithm, PID
Controller, Ziegler Nichols Method, ANFIS.
I. INTRODUCTION
DC motors have been widely used in industry even
though its maintenance costs are higher than the
induction motor. Proportional-Integral Derivative (PID)
controllers have been widely used for speed and
position control of DC motor. The paper achievement is
to design a control system using Genetic Algorithm
with considering of non linearity effective of the system.
Genetic Algorithm or in short GA is a stochastic
algorithm based on principles of natural selection and
genetics. Genetic Algorithms (GAs) are a stochastic
global search method that mimics the process of natural
evolution. Using genetic algorithms to perform the
tuning of the controller will result in the optimum
1
M. A. Moustafa Hassan***
*** mmustafa_98@hotmail.com
controller being evaluated for the system every time.
Furthermore, the effective of applying Adaptive Neuro
-Fuzzy Inference SYSTEM (ANFIS) based on genetic
algorithms will be studied. The objective of this paper
is to show that by employing the GA method with and
without ANFIS of tuning a system, an optimization can
be achieved. This can be seen by comparing the results
of the GA optimized system against the Ziegler-Nichols
tuned system.
II. The DC Motor Model
An electric motor converts electric energy to
mechanical energy by using interacting magnetic fields.
Electric motors are used for a wide variety of
residential, commercial, and industrial operations.
As reference the connection for a shunt-type DC motor
is illustrated in Figure (1) a shunt-wound DC motor
consists of a shunt field connected in parallel with the
armature. The shunt field winding is made up of many
turns of small-gauge wire and has a much higher
resistance and lower current flow compared to a series
field winding. As a result, these motors have excellent
speed and position control. Hence DC shunt motors are
typically used applications that require five or more
horse power. The equations describing the dynamic
behaviour of the DC motor based on the schematic
diagram on Figure (2) are given by the following
equations;.
+ (1)
 Table: (1) the Specification and Parameters of DC Motor
Specification 2 hp, 230 V, 8.5
Amperes, 1500 rpm
Parameters
2.45Ω (Armature resistance)

0.035H (Armature
inductance)
1.2Vs/rad
(Back emf)

Fig. 1: Diagram of DC Shunt Motor

0.022 kg (Moment of inertia)
0.5* (Nms/rad (Frictional
) constant)

The transfer function of the used DC Motor is:

Fig. 2: the schematic diagram OF DC motor (7)

(2)
III. TUNING OF PID CONTROLLER USING SEVERAL
(3)
METHODS

(4) A. Ziegler-Nichols Tuning Method:

Then, There are two methods for determination of the
parameters of PID controllers called Ziegler-Nichols
(5)
tuning rules. But the widely accepted method for tuning
After simplification and taking the ratio of θ(s)/ v(s). the PID controller is straightforward method. First, set the
controller to P mode only. Next, set the gain of the
The transfer function will be given blew,
controller ( ) to a small value. If is low the response
Θ(s) / v(s)=Kb / [J La S3 + (Ra J+B La)S2 +(Kb2+Ra B)S] should be Sluggish. Increase by a factor of two and
Keep increasing (by a factor of two) until the response
(6)
becomes oscillatory. Finally, adjust until a response is
Where; obtained that produces continuous oscillations. This is
= armature voltage (V), = armature resistance known as the ultimate gain ( ) or . Note that the period of
(Ω), = armature inductance (H), = armature current the oscillations is known as ultimate period ( ).
(A), = back emf (V) = angular speed (rad/s), =
The steps required for the method are given below:-
motor torque (Nm) = angular position of rotor shaft
ƒ The integral and derivative coefficients have to set
(rad), = rotor inertia (kg ) = viscous
(gains) to zero.
friction coefficient (Nms/rad), = torque constant
(Nm/A) = back emf constant (Vs/rad). The DC motor ƒ Gradually increase the proportional coefficient from
under study has the following specifications and zero to until the system just begins to oscillate
parameters are given in Table (1): continuously (sustained oscillation). The proportional
coefficient at this point is called the ultimate gain ( ).

2
ƒ And the period of oscillation at this point is called
ultimate period ( ).

The Ziegler-Nichols Tuning Rule are then obtained from

the following Table (2),

Table: (2) Ziegler-Nichols Tuning Rule Based

Controller
Kp Ki Kd
Type

Ku /1.7 Tu/2 Tu/8

PID

Fig. 4: Response of the system Using PID Controller

It was found that, the critical gain Ku = 84and the critical
period Tu = 0.15 sec and PID controller is shown in Figure
(3), where =49.41, =0.075 and =0.01875 and also
the out put response of the system is shown in Figure (4).
Tuning With Ziegler-Nichols
B. Genetic Algorithm Method:
GA has been recognized as an effective and efficient
technique to solve optimization problems. GA starts with
an initial population containing a number of chromosomes
where each one represents a solution of the problem which
performance is evaluated by a fitness function. Basically,
GA consists of three main stages: Selection, Crossover and
Mutation. The application of these three basic operations
allows the creation of new individuals which may be better
than their parents. This algorithm is repeated for many
generations and finally stops when reaching individuals
that represent the optimum solution to the problem. The
Genetic Algorithm Process Architecture is shown in
Figure(5).

The proposed PID controller with applying Genetic

Fig. 3: Block Diagram For The Complete System Using PID Controller
Tuning With Ziegler-Nichols
From the above response, we can analyze the system. We
can analyze the following parameters:
ƒ Maximum Overshoot, Mp
ƒ Settling time, ts
The Maximum Overshoot, Mp of the system is
approximately 0.02. The Settling time, ts is about 0.8 sec.
From the analysis above, the system has not been tuned to
its optimum. So we have to go for genetic algorithm
approach.
Algorithm Method is given in Figure (6), and also The
genetic algorithm gain values for the tuning is given below
in Table(3). The out put response of the system is showen
in Figure (7), and we can analyze the system for the
previous parameters
o Maximum Overshoot, Mp
o Settling time, ts
The Maximum Overshoot, Mp of the system is
approximately zero. The Settling time, ts is about 0.45 sec.
we will go for studying the effect of ANFIS for PID
controller based on Genetic Algorithm.
C. Adaptive Neuro-Fuzzy Inference System (ANFIS)
method:

3
 IS A model that maps input characteristics to input Table: (3) The GA based PID controller gain values
membership functions, input membership function to rules,
rules to a set of output characteristics, output
Gain Parameters Gain Values
characteristics to output membership functions, and the
output membership function to a single-valued output or a Kp 19.88
decision associated with the output.
Ki 0.1376

Kd 0.5578

Fig. 5: Genetic Algorithm Process Architecture

Fig. 7: Response Of Genetic Algorithm Based PID controller

ANFIS TOOL BOX:

These tools apply fuzzy inference techniques to data

Fig. 6: Block Diagram For The Complete System Of Genetic
Algorithm based PID
modeling
ƒ The shape of the membership functions depends on
parameters
ƒ Membership function parameters were chosen
automatically using these Fuzzy Logic Toolbox
applications
Fuzzy Logic Toolbox software computes the membership
function parameters that best allow the associated fuzzy
inference system to track the given input/output data. The
ANFIS tool box after training data is shown in Figure (8).

4
 Table (4) : Comparison between ZN, GA, and ANFIS
Responses

Tuning Maximum Settling time

method overshoot (sec)

ZN 0.02 0.8

Genetic __ 0.45
Algorithm

__
ANFIS 0.5

Fig 8: ANFIS Tool Box After Training Data

Then, fuzzy logic controller based on ANFIS tool box
became apart of complete PID controller. The block
diagram for the complete system is given below in Figure
(9) and response of Adaptive Neuro-Fuzzy Inference
System (ANFIS) based PID controller is shown in Figure
(10).

Fig.10: Response of Adaptive Neuro-Fuzzy Inference System (ANFIS)

Based PID Controller

V. Conclusions
The designed PID with Adaptive Neuro-Fuzzy Inference
System based GA has much faster response than response
Fig. 9: block diagram for the complete system of ANFIS based PID of the classical method. The classical method is good for
giving us as the starting point of what are the PID values.
However Adaptive Neuro-Fuzzy Inference System based
Also, the system for the previous parameters could be GA designed PID is much better in terms of the rise time
analyzed based on: and the settling time than the conventional method. Finally
the Artificial Intelligence Techniques provides much better
o Maximum Overshoot, Mp results compared to the conventional methods. And also
o Settling time, ts the error associated with the Adaptive Neuro-Fuzzy
Inference System based GA is much lesser than the error
The Maximum Overshoot, Mp of the system is calculated in the conventional scheme.
approximately zero. The Settling time, ts is about 0.5
sec.

5
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